15 files changed, 1220 insertions, 0 deletions
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both
new file mode 100755
index 0000000..49bd982
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both.hex b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both.hex
new file mode 100755
index 0000000..6092d32
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both.hex
@@ -0,0 +1,121 @@
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diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both.sh b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both.sh
new file mode 100755
index 0000000..762735b
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both.sh
@@ -0,0 +1,61 @@
+#!/bin/bash
+clear
+if [ "$#" -ne 2 ]; then
+  echo "Usage: $0 port baudrate" >&2
+  exit 1
+fi
+
+re='^[0-9]+$'
+if ! [[ $1 =~ $re ]] ; then
+   echo "error: $1 -> Not a number" >&2; exit 1
+fi
+
+if ! [[ $2 =~ $re ]] ; then
+   echo "error: $2-> Not a number" >&2; exit 1
+fi
+
+b_rate=$2
+
+present=`pwd`
+unamestr=`uname`
+
+if [[ "$unamestr" == 'Linux' ]]; then
+	mdd_path=($(locate Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include))
+	om_path=($(locate /usr/include/omc/c))
+	port="/dev/ttyACM$1"
+	omc --simCodeTarget=ExperimentalEmbeddedC runMDD_dcmotor_both.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+else
+	cd c:	
+	om_path=($(dir -d OpenModelica*/include/omc/c/))
+	path_to_om="C:$om_path"
+	cd f:
+	mdd_path=($(dir -d */Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include/))
+	if [ $? -eq 0 ]; then
+		path_to_mdd="F:/$mdd_path"
+	else
+		exit 1
+	fi
+	
+	port="COM$1"
+	cd $present
+	omc --simCodeTarget=ExperimentalEmbeddedC run_dcmotor_both.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+fi
+
+avr-gcc -Os -std=c11 -ffunction-sections -fdata-sections -mmcu=atmega328p -DF_CPU=16000000UL -Wl,--gc-sections dcmotor_both_main.c -o dcmotor_both -I${mdd_path[0]} -I${path_to_om} -I${path_to_mdd} -I${om_path[0]}  
+if [ $? -ne 0 ]; then
+	exit 1
+fi
+avr-objcopy -O ihex -R .eeprom dcmotor_both dcmotor_both.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi 
+avrdude -F -V -c arduino -p ATMEGA328P -P $port -b $b_rate -U flash:w:dcmotor_both.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi
+\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both_main.c b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both_main.c
new file mode 100755
index 0000000..dbf03a2
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_both_main.c
@@ -0,0 +1,217 @@
+#define fmi2TypesPlatform_h
+
+#define fmi2TypesPlatform "default" /* Compatible */
+
+typedef struct dcmotor_both_fmi2Component_s* fmi2Component;
+typedef void* fmi2ComponentEnvironment;    /* Pointer to FMU environment    */
+typedef void* fmi2FMUstate;                /* Pointer to internal FMU state */
+typedef unsigned int fmi2ValueReference;
+typedef double fmi2Real;
+typedef int fmi2Integer;
+typedef int fmi2Boolean;
+typedef char fmi2Char;
+typedef const fmi2Char* fmi2String;
+typedef char fmi2Byte;
+
+#define fmi2True 1
+#define fmi2False 0
+
+#include "fmi2/fmi2Functions.h"
+
+#include <stdint.h>
+#include <stdio.h>
+
+void ModelicaFormatMessage(const char *fmt, ...)
+{
+  va_list args;
+  va_start(args, fmt);
+  vprintf(fmt, args);
+  va_end(args);
+}
+
+typedef struct dcmotor_both_fmi2Component_s {
+  fmi2Real currentTime;
+  fmi2Integer fmi2IntegerVars[2];
+  fmi2Real fmi2RealParameter[1];
+  void* extObjs[6];
+} dcmotor_both_fmi2Component;
+
+dcmotor_both_fmi2Component dcmotor_both_component = {
+  .fmi2IntegerVars = {
+    0 /*pwm._u[1]*/,
+    0 /*pwm1._u[1]*/,
+  },
+  .fmi2RealParameter = {
+    0.01 /*synchronizeRealtime1._actualInterval*/,
+  },
+};
+
+#include <math.h>
+/* TODO: Generate used builtin functions before SimCode */
+static inline double om_mod(double x, double y)
+{
+  return x-floor(x/y)*y;
+}
+
+#include "MDDAVRTimer.h"
+#include "MDDAVRRealTime.h"
+#include "MDDAVRAnalog.h"
+
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(fmi2Component comp, void* om_pwm, fmi2Integer om_value);
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_pin, fmi2Integer om_initialValue, fmi2Boolean om_inverted);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_destructor(fmi2Component comp, void* om_pwm);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(fmi2Component comp, void* om_rt);
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_timerValue, fmi2Integer om_numTimerInterruptsPerCycle);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_destructor(fmi2Component comp, void* om_rt);
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(fmi2Component comp, fmi2Integer om_timerSelect, fmi2Integer om_clockSelect, fmi2Boolean om_clearTimerOnMatch);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_destructor(fmi2Component comp, void* om_timer);
+
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(fmi2Component comp, void* om_pwm, fmi2Integer om_value)
+{
+  MDD_avr_pwm_set(om_pwm, om_value);
+}
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_pin, fmi2Integer om_initialValue, fmi2Boolean om_inverted)
+{
+  void* om_pwm;
+  om_pwm = MDD_avr_pwm_init(om_timer, om_pin, om_initialValue, om_inverted);
+  return om_pwm;
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_destructor(fmi2Component comp, void* om_pwm)
+{
+  MDD_avr_pwm_close(om_pwm);
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(fmi2Component comp, void* om_rt)
+{
+  MDD_avr_rt_wait(om_rt);
+}
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_timerValue, fmi2Integer om_numTimerInterruptsPerCycle)
+{
+  void* om_rt;
+  om_rt = MDD_avr_rt_init(om_timer, om_timerValue, om_numTimerInterruptsPerCycle);
+  return om_rt;
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_destructor(fmi2Component comp, void* om_rt)
+{
+  MDD_avr_rt_close(om_rt);
+}
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(fmi2Component comp, fmi2Integer om_timerSelect, fmi2Integer om_clockSelect, fmi2Boolean om_clearTimerOnMatch)
+{
+  void* om_timer;
+  om_timer = MDD_avr_timer_init(om_timerSelect, om_clockSelect, om_clearTimerOnMatch);
+  return om_timer;
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_destructor(fmi2Component comp, void* om_timer)
+{
+  MDD_avr_timer_close(om_timer);
+}
+
+fmi2Component dcmotor_both_fmi2Instantiate(fmi2String name, fmi2Type ty, fmi2String GUID, fmi2String resources, const fmi2CallbackFunctions* functions, fmi2Boolean visible, fmi2Boolean loggingOn)
+{
+  static int initDone=0;
+  if (initDone) {
+    return NULL;
+  }
+  return &dcmotor_both_component;
+}
+
+fmi2Status dcmotor_both_fmi2SetupExperiment(fmi2Component comp, fmi2Boolean toleranceDefined, fmi2Real tolerance, fmi2Real startTime, fmi2Boolean stopTimeDefined, fmi2Real stopTime)
+{
+  return fmi2OK;
+}
+
+fmi2Status dcmotor_both_fmi2EnterInitializationMode(fmi2Component comp)
+{
+  comp->extObjs[2] /* pwm1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 2, 7, fmi2True);
+  comp->extObjs[3] /* pwm1._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(comp, comp->extObjs[2] /* pwm1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 2, 0, fmi2False);
+  comp->extObjs[0] /* pwm._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 2, 7, fmi2True);
+  comp->extObjs[1] /* pwm._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(comp, comp->extObjs[0] /* pwm._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 1, 0, fmi2False);
+  comp->extObjs[4] /* synchronizeRealtime1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 1, 4, fmi2False);
+  comp->extObjs[5] /* synchronizeRealtime1._sync EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.RealTimeSynchronization.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(comp, comp->extObjs[4] /* synchronizeRealtime1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 249, 10);
+  return fmi2OK;
+}
+
+fmi2Status dcmotor_both_fmi2ExitInitializationMode(fmi2Component comp)
+{
+  return fmi2OK;
+}
+
+static fmi2Status dcmotor_both_functionODE(fmi2Component comp)
+{
+}
+
+static fmi2Status dcmotor_both_functionOutputs(fmi2Component comp)
+{
+  comp->fmi2IntegerVars[0] /* pwm._u[1] DISCRETE */ = ((om_mod(comp->currentTime,1.0))>=(0.5)) ? (100) : (0); /* equation 4 */
+  comp->fmi2IntegerVars[1] /* pwm1._u[1] DISCRETE */ = ((om_mod(comp->currentTime,1.0))<(0.5)) ? (100) : (0); /* equation 5 */Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(comp, comp->extObjs[5] /* synchronizeRealtime1._sync EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.RealTimeSynchronization.Init */);Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(comp, comp->extObjs[1] /* pwm._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */, comp->fmi2IntegerVars[0] /* pwm._u[1] DISCRETE */);Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(comp, comp->extObjs[3] /* pwm1._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */, comp->fmi2IntegerVars[1] /* pwm1._u[1] DISCRETE */);
+}
+
+fmi2Status dcmotor_both_fmi2DoStep(fmi2Component comp, fmi2Real currentCommunicationPoint, fmi2Real communicationStepSize, fmi2Boolean noSetFMUStatePriorToCurrentPoint)
+{
+  comp->currentTime = currentCommunicationPoint;
+  /* TODO: Calculate time/state-dependent variables here... */
+  dcmotor_both_functionOutputs(comp);
+  return fmi2OK;
+}
+
+int main(int argc, char **argv)
+{
+  int terminateSimulation = 0;
+  fmi2Status status = fmi2OK;
+  fmi2CallbackFunctions cbf = {
+  .logger = NULL,
+  .allocateMemory = NULL /*calloc*/,
+  .freeMemory = NULL /*free*/,
+  .stepFinished = NULL, //synchronous execution
+  .componentEnvironment = NULL
+  };
+
+  fmi2Component comp = dcmotor_both_fmi2Instantiate("", fmi2CoSimulation, "", "", &cbf, fmi2False, fmi2False);
+  if (comp==NULL) {
+    return 1;
+  }
+  dcmotor_both_fmi2SetupExperiment(comp, fmi2False, 0.0, 0.0, fmi2False, 1.0);
+  dcmotor_both_fmi2EnterInitializationMode(comp);
+  // Set start-values? Nah...
+  dcmotor_both_fmi2ExitInitializationMode(comp);
+  
+  double currentTime = 0.0;
+  double h = 0.002;
+  uint32_t i = 0;
+  
+  while (status == fmi2OK) {
+    //retrieve outputs
+      // fmi2GetReal(m, ..., 1, &y1);
+    //set inputs
+      // fmi2SetReal(m, ..., 1, &y2);
+  
+    //call slave and check status
+    status = dcmotor_both_fmi2DoStep(comp, currentTime, h, fmi2True);
+    switch (status) {
+      case fmi2Discard:
+      case fmi2Error:
+      case fmi2Fatal:
+      case fmi2Pending /* Cannot happen */:
+        terminateSimulation = 1;
+        break;
+      case fmi2OK:
+      case fmi2Warning:
+        break;
+    }
+    if (terminateSimulation) {
+      break;
+    }
+    i++;
+    /* increment master time */
+    currentTime = 0.0 + h*i;
+  }
+  
+#if 0
+  if ((status != fmi2Error) && (status != fmi2Fatal)) {
+    fmi2Terminate(m);
+  }
+  if (status != fmi2Fatal) {
+    fmi2FreeInstance(m);
+  }
+#endif
+}
+
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock
new file mode 100755
index 0000000..0e58a0e
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock.hex b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock.hex
new file mode 100755
index 0000000..f752eb8
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock.hex
@@ -0,0 +1,101 @@
+:100000000C9434000C9451000C9451000C94510049
+:100010000C9451000C9451000C9451000C94E50088
+:100020000C9451000C9451000C9451000C94B400A9
+:100030000C9451000C9451000C9483000C945100CA
+:100040000C9451000C9451000C9451000C945100EC
+:100050000C9451000C9451000C9451000C945100DC
+:100060000C9451000C94510011241FBECFEFD8E026
+:10007000DEBFCDBF11E0A0E0B1E0ECE1F6E002C0F0
+:1000800005900D92A231B107D9F711E0A2E1B1E0DC
+:1000900001C01D92A731B107E1F70E9445010C9400
+:1000A0000C030C9400008230910561F083309105BF
+:1000B00099F00197C9F416BC80916E00826080931C
+:1000C0006E0016C0109285001092840080916F001F
+:1000D000826080936F000CC01092B200809170001B
+:1000E00082608093700004C081E090E00E940C0365
+:1000F00078949FB7F894809114019FBF8823C9F327
+:100100001092140108951F920F920FB60F921124AE
+:100110002F933F938F939F9380911201909113019E
+:100120000196909313018093120180911401813004
+:1001300091F020911201309113018091150190915D
+:1001400016012817390738F081E0809314011092C6
+:100150001301109212019F918F913F912F910F9057
+:100160000FBE0F901F9018951F920F920FB60F920F
+:1001700011242F933F938F939F938091120190911D
+:100180001301019690931301809312018091140141
+:10019000813091F02091120130911301809115016D
+:1001A000909116012817390738F081E080931401E7
+:1001B00010921301109212019F918F913F912F91F4
+:1001C0000F900FBE0F901F9018951F920F920FB6B1
+:1001D0000F9211242F933F938F939F93809112013D
+:1001E00090911301019690931301809312018091D5
+:1001F0001401813091F0209112013091130180910E
+:100200001501909116012817390738F081E0809385
+:10021000140110921301109212019F918F913F913E
+:100220002F910F900FBE0F901F901895FC01A1E821
+:10023000B0E08C918D608C9382E090E09387828710
+:10024000229AA0E8B0E08C9181628C93AAE8B0E099
+:1002500011961C921E921C92B587A48785B5836067
+:1002600085BD81E090E0978786872AE030E0309373
+:1002700016012093150124B5226024BD29EF27BD66
+:10028000918B808B80E090E00895CF92DF92EF9287
+:10029000FF9280E091E00E941601C12CD12C7601E2
+:1002A00060E070E0CB0160930001709301018093E6
+:1002B00002019093030120E030E040E85FE30E94F8
+:1002C000F30187FF03C08FEF90E002C080E090E071
+:1002D0009093050180930401809110019091110188
+:1002E0000E945300E0910C01F0910D0180910401F6
+:1002F00080838FEFC81AD80AE80AF80AC701B60146
+:100300000E94F7012FE632E143E05BE30E94A9027D
+:1003100020E030E0A9010E948F01C5CF5058BB27D3
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+:10034000E92FDED080F3BA17620773078407950799
+:1003500018F071F49EF5F6C00EF4E0950B2EBA2F4E
+:10036000A02D0B01B90190010C01CA01A0011124BB
+:10037000FF27591B99F0593F50F4503E68F11A1667
+:10038000F040A22F232F342F4427585FF3CF4695F8
+:1003900037952795A795F0405395C9F77EF41F161A
+:1003A000BA0B620B730B840BBAF09150A1F0FF0FE4
+:1003B000BB1F661F771F881FC2F70EC0BA0F621FD0
+:1003C000731F841F48F4879577956795B795F795C0
+:1003D0009E3F08F0B3CF9395880F08F09927EE0F52
+:1003E00097958795089540D008F481E00895E894A2
+:1003F00009C097FB3EF490958095709561957F4F6D
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+:10042000BB0F11F460FF1BC06F5F7F4F8F4F9F4F5B
+:1004300016C0882311F096E911C0772321F09EE8B9
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+:100460009695879597F90895990F0008550FAA0B4F
+:10047000E0E8FEEF16161706E807F907C0F01216B7
+:100480001306E407F50798F0621B730B840B950BBA
+:1004900039F40A2661F0232B242B252B21F408950F
+:1004A0000A2609F4A140A6958FEF811D811D0895AC
+:1004B00097F99F6780E870E060E008959FEF80EC17
+:1004C000089500240A9416161706180609060895BA
+:1004D00000240A9412161306140605060895092E20
+:1004E0000394000C11F4882352F0BB0F40F4BF2B8F
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+:1005000057FD9058440F551F59F05F3F71F04795C4
+:10051000880F97FB991F61F09F3F79F087950895A9
+:10052000121613061406551FF2CF4695F1DF08C0C8
+:10053000161617061806991FF1CF869571056105E5
+:1005400008940895E894BB2766277727CB0197F98D
+:1005500008950BD0C4CFB5DF28F0BADF18F095238B
+:1005600009F0A6CFABCF1124EECFCADFA0F3959F41
+:10057000D1F3950F50E0551F629FF001729FBB278A
+:10058000F00DB11D639FAA27F00DB11DAA1F649F36
+:100590006627B00DA11D661F829F2227B00DA11DE9
+:1005A000621F739FB00DA11D621F839FA00D611D6F
+:1005B000221F749F3327A00D611D231F849F600D90
+:1005C000211D822F762F6A2F11249F5750408AF0C9
+:1005D000E1F088234AF0EE0FFF1FBB1F661F771F55
+:1005E000881F91505040A9F79E3F510570F060CF91
+:1005F000AACF5F3FECF3983EDCF38695779567953D
+:10060000B795F795E7959F5FC1F7FE2B880F911D72
+:0C0610009695879597F90895F894FFCF10
+:10061C0000000000FF000AD7233C0000000000008F
+:02062C000000CC
+:00000001FF
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock.sh b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock.sh
new file mode 100755
index 0000000..9ef5c4d
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock.sh
@@ -0,0 +1,61 @@
+#!/bin/bash
+clear
+if [ "$#" -ne 2 ]; then
+  echo "Usage: $0 port baudrate" >&2
+  exit 1
+fi
+
+re='^[0-9]+$'
+if ! [[ $1 =~ $re ]] ; then
+   echo "error: $1 -> Not a number" >&2; exit 1
+fi
+
+if ! [[ $2 =~ $re ]] ; then
+   echo "error: $2-> Not a number" >&2; exit 1
+fi
+
+b_rate=$2
+
+present=`pwd`
+unamestr=`uname`
+
+if [[ "$unamestr" == 'Linux' ]]; then
+	mdd_path=($(locate Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include))
+	om_path=($(locate /usr/include/omc/c))
+	port="/dev/ttyACM$1"
+	omc --simCodeTarget=ExperimentalEmbeddedC runMDD_dcmotor_clock.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+else
+	cd c:	
+	om_path=($(dir -d OpenModelica*/include/omc/c/))
+	path_to_om="C:$om_path"
+	cd f:
+	mdd_path=($(dir -d */Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include/))
+	if [ $? -eq 0 ]; then
+		path_to_mdd="F:/$mdd_path"
+	else
+		exit 1
+	fi
+	
+	port="COM$1"
+	cd $present
+	omc --simCodeTarget=ExperimentalEmbeddedC run_dcmotor_clock.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+fi
+
+avr-gcc -Os -std=c11 -ffunction-sections -fdata-sections -mmcu=atmega328p -DF_CPU=16000000UL -Wl,--gc-sections dcmotor_clock_main.c -o dcmotor_clock -I${mdd_path[0]} -I${path_to_om} -I${path_to_mdd} -I${om_path[0]}  
+if [ $? -ne 0 ]; then
+	exit 1
+fi
+avr-objcopy -O ihex -R .eeprom dcmotor_clock dcmotor_clock.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi 
+avrdude -F -V -c arduino -p ATMEGA328P -P $port -b $b_rate -U flash:w:dcmotor_clock.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi
+\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock_main.c b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock_main.c
new file mode 100755
index 0000000..ae3eff7
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_clock_main.c
@@ -0,0 +1,213 @@
+#define fmi2TypesPlatform_h
+
+#define fmi2TypesPlatform "default" /* Compatible */
+
+typedef struct dcmotor_clock_fmi2Component_s* fmi2Component;
+typedef void* fmi2ComponentEnvironment;    /* Pointer to FMU environment    */
+typedef void* fmi2FMUstate;                /* Pointer to internal FMU state */
+typedef unsigned int fmi2ValueReference;
+typedef double fmi2Real;
+typedef int fmi2Integer;
+typedef int fmi2Boolean;
+typedef char fmi2Char;
+typedef const fmi2Char* fmi2String;
+typedef char fmi2Byte;
+
+#define fmi2True 1
+#define fmi2False 0
+
+#include "fmi2/fmi2Functions.h"
+
+#include <stdint.h>
+#include <stdio.h>
+
+void ModelicaFormatMessage(const char *fmt, ...)
+{
+  va_list args;
+  va_start(args, fmt);
+  vprintf(fmt, args);
+  va_end(args);
+}
+
+typedef struct dcmotor_clock_fmi2Component_s {
+  fmi2Real currentTime;
+  fmi2Integer fmi2IntegerVars[1];
+  fmi2Real fmi2RealParameter[1];
+  void* extObjs[4];
+} dcmotor_clock_fmi2Component;
+
+dcmotor_clock_fmi2Component dcmotor_clock_component = {
+  .fmi2IntegerVars = {
+    255 /*pwm._u[1]*/,
+  },
+  .fmi2RealParameter = {
+    0.01 /*synchronizeRealtime1._actualInterval*/,
+  },
+};
+
+#include <math.h>
+/* TODO: Generate used builtin functions before SimCode */
+static inline double om_mod(double x, double y)
+{
+  return x-floor(x/y)*y;
+}
+
+#include "MDDAVRTimer.h"
+#include "MDDAVRRealTime.h"
+#include "MDDAVRAnalog.h"
+
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(fmi2Component comp, void* om_pwm, fmi2Integer om_value);
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_pin, fmi2Integer om_initialValue, fmi2Boolean om_inverted);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_destructor(fmi2Component comp, void* om_pwm);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(fmi2Component comp, void* om_rt);
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_timerValue, fmi2Integer om_numTimerInterruptsPerCycle);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_destructor(fmi2Component comp, void* om_rt);
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(fmi2Component comp, fmi2Integer om_timerSelect, fmi2Integer om_clockSelect, fmi2Boolean om_clearTimerOnMatch);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_destructor(fmi2Component comp, void* om_timer);
+
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(fmi2Component comp, void* om_pwm, fmi2Integer om_value)
+{
+  MDD_avr_pwm_set(om_pwm, om_value);
+}
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_pin, fmi2Integer om_initialValue, fmi2Boolean om_inverted)
+{
+  void* om_pwm;
+  om_pwm = MDD_avr_pwm_init(om_timer, om_pin, om_initialValue, om_inverted);
+  return om_pwm;
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_destructor(fmi2Component comp, void* om_pwm)
+{
+  MDD_avr_pwm_close(om_pwm);
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(fmi2Component comp, void* om_rt)
+{
+  MDD_avr_rt_wait(om_rt);
+}
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_timerValue, fmi2Integer om_numTimerInterruptsPerCycle)
+{
+  void* om_rt;
+  om_rt = MDD_avr_rt_init(om_timer, om_timerValue, om_numTimerInterruptsPerCycle);
+  return om_rt;
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_destructor(fmi2Component comp, void* om_rt)
+{
+  MDD_avr_rt_close(om_rt);
+}
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(fmi2Component comp, fmi2Integer om_timerSelect, fmi2Integer om_clockSelect, fmi2Boolean om_clearTimerOnMatch)
+{
+  void* om_timer;
+  om_timer = MDD_avr_timer_init(om_timerSelect, om_clockSelect, om_clearTimerOnMatch);
+  return om_timer;
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_destructor(fmi2Component comp, void* om_timer)
+{
+  MDD_avr_timer_close(om_timer);
+}
+
+fmi2Component dcmotor_clock_fmi2Instantiate(fmi2String name, fmi2Type ty, fmi2String GUID, fmi2String resources, const fmi2CallbackFunctions* functions, fmi2Boolean visible, fmi2Boolean loggingOn)
+{
+  static int initDone=0;
+  if (initDone) {
+    return NULL;
+  }
+  return &dcmotor_clock_component;
+}
+
+fmi2Status dcmotor_clock_fmi2SetupExperiment(fmi2Component comp, fmi2Boolean toleranceDefined, fmi2Real tolerance, fmi2Real startTime, fmi2Boolean stopTimeDefined, fmi2Real stopTime)
+{
+  return fmi2OK;
+}
+
+fmi2Status dcmotor_clock_fmi2EnterInitializationMode(fmi2Component comp)
+{
+  comp->extObjs[0] /* pwm._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 2, 7, fmi2True);
+  comp->extObjs[1] /* pwm._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(comp, comp->extObjs[0] /* pwm._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 2, 0, fmi2False);
+  comp->extObjs[2] /* synchronizeRealtime1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 1, 4, fmi2False);
+  comp->extObjs[3] /* synchronizeRealtime1._sync EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.RealTimeSynchronization.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(comp, comp->extObjs[2] /* synchronizeRealtime1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 249, 10);
+  return fmi2OK;
+}
+
+fmi2Status dcmotor_clock_fmi2ExitInitializationMode(fmi2Component comp)
+{
+  return fmi2OK;
+}
+
+static fmi2Status dcmotor_clock_functionODE(fmi2Component comp)
+{
+}
+
+static fmi2Status dcmotor_clock_functionOutputs(fmi2Component comp)
+{
+  comp->fmi2IntegerVars[0] /* pwm._u[1] DISCRETE */ = ((comp->currentTime)<(1.0)) ? (255) : (0); /* equation 3 */Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(comp, comp->extObjs[3] /* synchronizeRealtime1._sync EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.RealTimeSynchronization.Init */);Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(comp, comp->extObjs[1] /* pwm._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */, comp->fmi2IntegerVars[0] /* pwm._u[1] DISCRETE */);
+}
+
+fmi2Status dcmotor_clock_fmi2DoStep(fmi2Component comp, fmi2Real currentCommunicationPoint, fmi2Real communicationStepSize, fmi2Boolean noSetFMUStatePriorToCurrentPoint)
+{
+  comp->currentTime = currentCommunicationPoint;
+  /* TODO: Calculate time/state-dependent variables here... */
+  dcmotor_clock_functionOutputs(comp);
+  return fmi2OK;
+}
+
+int main(int argc, char **argv)
+{
+  int terminateSimulation = 0;
+  fmi2Status status = fmi2OK;
+  fmi2CallbackFunctions cbf = {
+  .logger = NULL,
+  .allocateMemory = NULL /*calloc*/,
+  .freeMemory = NULL /*free*/,
+  .stepFinished = NULL, //synchronous execution
+  .componentEnvironment = NULL
+  };
+
+  fmi2Component comp = dcmotor_clock_fmi2Instantiate("", fmi2CoSimulation, "", "", &cbf, fmi2False, fmi2False);
+  if (comp==NULL) {
+    return 1;
+  }
+  dcmotor_clock_fmi2SetupExperiment(comp, fmi2False, 0.0, 0.0, fmi2False, 1.0);
+  dcmotor_clock_fmi2EnterInitializationMode(comp);
+  // Set start-values? Nah...
+  dcmotor_clock_fmi2ExitInitializationMode(comp);
+  
+  double currentTime = 0.0;
+  double h = 0.002;
+  uint32_t i = 0;
+  
+  while (status == fmi2OK) {
+    //retrieve outputs
+      // fmi2GetReal(m, ..., 1, &y1);
+    //set inputs
+      // fmi2SetReal(m, ..., 1, &y2);
+  
+    //call slave and check status
+    status = dcmotor_clock_fmi2DoStep(comp, currentTime, h, fmi2True);
+    switch (status) {
+      case fmi2Discard:
+      case fmi2Error:
+      case fmi2Fatal:
+      case fmi2Pending /* Cannot happen */:
+        terminateSimulation = 1;
+        break;
+      case fmi2OK:
+      case fmi2Warning:
+        break;
+    }
+    if (terminateSimulation) {
+      break;
+    }
+    i++;
+    /* increment master time */
+    currentTime = 0.0 + h*i;
+  }
+  
+#if 0
+  if ((status != fmi2Error) && (status != fmi2Fatal)) {
+    fmi2Terminate(m);
+  }
+  if (status != fmi2Fatal) {
+    fmi2FreeInstance(m);
+  }
+#endif
+}
+
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop
new file mode 100755
index 0000000..36d8f3b
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop.hex b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop.hex
new file mode 100755
index 0000000..119035b
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop.hex
@@ -0,0 +1,135 @@
+:100000000C9434000C9451000C9451000C94510049
+:100010000C9451000C9451000C9451000C94380134
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diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop.sh b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop.sh
new file mode 100755
index 0000000..38ca771
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop.sh
@@ -0,0 +1,61 @@
+#!/bin/bash
+clear
+if [ "$#" -ne 2 ]; then
+  echo "Usage: $0 port baudrate" >&2
+  exit 1
+fi
+
+re='^[0-9]+$'
+if ! [[ $1 =~ $re ]] ; then
+   echo "error: $1 -> Not a number" >&2; exit 1
+fi
+
+if ! [[ $2 =~ $re ]] ; then
+   echo "error: $2-> Not a number" >&2; exit 1
+fi
+
+b_rate=$2
+
+present=`pwd`
+unamestr=`uname`
+
+if [[ "$unamestr" == 'Linux' ]]; then
+	mdd_path=($(locate Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include))
+	om_path=($(locate /usr/include/omc/c))
+	port="/dev/ttyACM$1"
+	omc --simCodeTarget=ExperimentalEmbeddedC runMDD_dcmotor_loop.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+else
+	cd c:	
+	om_path=($(dir -d OpenModelica*/include/omc/c/))
+	path_to_om="C:$om_path"
+	cd f:
+	mdd_path=($(dir -d */Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include/))
+	if [ $? -eq 0 ]; then
+		path_to_mdd="F:/$mdd_path"
+	else
+		exit 1
+	fi
+	
+	port="COM$1"
+	cd $present
+	omc --simCodeTarget=ExperimentalEmbeddedC run_dcmotor_loop.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+fi
+
+avr-gcc -Os -std=c11 -ffunction-sections -fdata-sections -mmcu=atmega328p -DF_CPU=16000000UL -Wl,--gc-sections dcmotor_loop_main.c -o dcmotor_loop -I${mdd_path[0]} -I${path_to_om} -I${path_to_mdd} -I${om_path[0]}  
+if [ $? -ne 0 ]; then
+	exit 1
+fi
+avr-objcopy -O ihex -R .eeprom dcmotor_loop dcmotor_loop.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi 
+avrdude -F -V -c arduino -p ATMEGA328P -P $port -b $b_rate -U flash:w:dcmotor_loop.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi
+\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop_main.c b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop_main.c
new file mode 100755
index 0000000..581a9d6
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/dcmotor_loop_main.c
@@ -0,0 +1,217 @@
+#define fmi2TypesPlatform_h
+
+#define fmi2TypesPlatform "default" /* Compatible */
+
+typedef struct dcmotor_loop_fmi2Component_s* fmi2Component;
+typedef void* fmi2ComponentEnvironment;    /* Pointer to FMU environment    */
+typedef void* fmi2FMUstate;                /* Pointer to internal FMU state */
+typedef unsigned int fmi2ValueReference;
+typedef double fmi2Real;
+typedef int fmi2Integer;
+typedef int fmi2Boolean;
+typedef char fmi2Char;
+typedef const fmi2Char* fmi2String;
+typedef char fmi2Byte;
+
+#define fmi2True 1
+#define fmi2False 0
+
+#include "fmi2/fmi2Functions.h"
+
+#include <stdint.h>
+#include <stdio.h>
+
+void ModelicaFormatMessage(const char *fmt, ...)
+{
+  va_list args;
+  va_start(args, fmt);
+  vprintf(fmt, args);
+  va_end(args);
+}
+
+typedef struct dcmotor_loop_fmi2Component_s {
+  fmi2Real currentTime;
+  fmi2Integer fmi2IntegerVars[2];
+  fmi2Real fmi2RealParameter[1];
+  void* extObjs[6];
+} dcmotor_loop_fmi2Component;
+
+dcmotor_loop_fmi2Component dcmotor_loop_component = {
+  .fmi2IntegerVars = {
+    0 /*pwm._u[1]*/,
+    0 /*pwm1._u[1]*/,
+  },
+  .fmi2RealParameter = {
+    0.002 /*synchronizeRealtime1._actualInterval*/,
+  },
+};
+
+#include <math.h>
+/* TODO: Generate used builtin functions before SimCode */
+static inline double om_mod(double x, double y)
+{
+  return x-floor(x/y)*y;
+}
+
+#include "MDDAVRTimer.h"
+#include "MDDAVRRealTime.h"
+#include "MDDAVRAnalog.h"
+
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(fmi2Component comp, void* om_pwm, fmi2Integer om_value);
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_pin, fmi2Integer om_initialValue, fmi2Boolean om_inverted);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_destructor(fmi2Component comp, void* om_pwm);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(fmi2Component comp, void* om_rt);
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_timerValue, fmi2Integer om_numTimerInterruptsPerCycle);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_destructor(fmi2Component comp, void* om_rt);
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(fmi2Component comp, fmi2Integer om_timerSelect, fmi2Integer om_clockSelect, fmi2Boolean om_clearTimerOnMatch);
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_destructor(fmi2Component comp, void* om_timer);
+
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(fmi2Component comp, void* om_pwm, fmi2Integer om_value)
+{
+  MDD_avr_pwm_set(om_pwm, om_value);
+}
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_pin, fmi2Integer om_initialValue, fmi2Boolean om_inverted)
+{
+  void* om_pwm;
+  om_pwm = MDD_avr_pwm_init(om_timer, om_pin, om_initialValue, om_inverted);
+  return om_pwm;
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_destructor(fmi2Component comp, void* om_pwm)
+{
+  MDD_avr_pwm_close(om_pwm);
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(fmi2Component comp, void* om_rt)
+{
+  MDD_avr_rt_wait(om_rt);
+}
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_timerValue, fmi2Integer om_numTimerInterruptsPerCycle)
+{
+  void* om_rt;
+  om_rt = MDD_avr_rt_init(om_timer, om_timerValue, om_numTimerInterruptsPerCycle);
+  return om_rt;
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_destructor(fmi2Component comp, void* om_rt)
+{
+  MDD_avr_rt_close(om_rt);
+}
+static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(fmi2Component comp, fmi2Integer om_timerSelect, fmi2Integer om_clockSelect, fmi2Boolean om_clearTimerOnMatch)
+{
+  void* om_timer;
+  om_timer = MDD_avr_timer_init(om_timerSelect, om_clockSelect, om_clearTimerOnMatch);
+  return om_timer;
+}
+static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_destructor(fmi2Component comp, void* om_timer)
+{
+  MDD_avr_timer_close(om_timer);
+}
+
+fmi2Component dcmotor_loop_fmi2Instantiate(fmi2String name, fmi2Type ty, fmi2String GUID, fmi2String resources, const fmi2CallbackFunctions* functions, fmi2Boolean visible, fmi2Boolean loggingOn)
+{
+  static int initDone=0;
+  if (initDone) {
+    return NULL;
+  }
+  return &dcmotor_loop_component;
+}
+
+fmi2Status dcmotor_loop_fmi2SetupExperiment(fmi2Component comp, fmi2Boolean toleranceDefined, fmi2Real tolerance, fmi2Real startTime, fmi2Boolean stopTimeDefined, fmi2Real stopTime)
+{
+  return fmi2OK;
+}
+
+fmi2Status dcmotor_loop_fmi2EnterInitializationMode(fmi2Component comp)
+{
+  comp->extObjs[2] /* pwm1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 2, 7, fmi2True);
+  comp->extObjs[3] /* pwm1._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(comp, comp->extObjs[2] /* pwm1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 2, 0, fmi2False);
+  comp->extObjs[0] /* pwm._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 2, 7, fmi2True);
+  comp->extObjs[1] /* pwm._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(comp, comp->extObjs[0] /* pwm._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 1, 0, fmi2False);
+  comp->extObjs[4] /* synchronizeRealtime1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 1, 4, fmi2False);
+  comp->extObjs[5] /* synchronizeRealtime1._sync EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.RealTimeSynchronization.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(comp, comp->extObjs[4] /* synchronizeRealtime1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 249, 2);
+  return fmi2OK;
+}
+
+fmi2Status dcmotor_loop_fmi2ExitInitializationMode(fmi2Component comp)
+{
+  return fmi2OK;
+}
+
+static fmi2Status dcmotor_loop_functionODE(fmi2Component comp)
+{
+}
+
+static fmi2Status dcmotor_loop_functionOutputs(fmi2Component comp)
+{
+  comp->fmi2IntegerVars[0] /* pwm._u[1] DISCRETE */ = ((om_mod(comp->currentTime,6.0))<(3.0)) ? (255) : (0); /* equation 4 */
+  comp->fmi2IntegerVars[1] /* pwm1._u[1] DISCRETE */ = ((om_mod(comp->currentTime,6.0))>(3.0)) ? (255) : (0); /* equation 5 */Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(comp, comp->extObjs[5] /* synchronizeRealtime1._sync EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.RealTimeSynchronization.Init */);Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(comp, comp->extObjs[1] /* pwm._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */, comp->fmi2IntegerVars[0] /* pwm._u[1] DISCRETE */);Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(comp, comp->extObjs[3] /* pwm1._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */, comp->fmi2IntegerVars[1] /* pwm1._u[1] DISCRETE */);
+}
+
+fmi2Status dcmotor_loop_fmi2DoStep(fmi2Component comp, fmi2Real currentCommunicationPoint, fmi2Real communicationStepSize, fmi2Boolean noSetFMUStatePriorToCurrentPoint)
+{
+  comp->currentTime = currentCommunicationPoint;
+  /* TODO: Calculate time/state-dependent variables here... */
+  dcmotor_loop_functionOutputs(comp);
+  return fmi2OK;
+}
+
+int main(int argc, char **argv)
+{
+  int terminateSimulation = 0;
+  fmi2Status status = fmi2OK;
+  fmi2CallbackFunctions cbf = {
+  .logger = NULL,
+  .allocateMemory = NULL /*calloc*/,
+  .freeMemory = NULL /*free*/,
+  .stepFinished = NULL, //synchronous execution
+  .componentEnvironment = NULL
+  };
+
+  fmi2Component comp = dcmotor_loop_fmi2Instantiate("", fmi2CoSimulation, "", "", &cbf, fmi2False, fmi2False);
+  if (comp==NULL) {
+    return 1;
+  }
+  dcmotor_loop_fmi2SetupExperiment(comp, fmi2False, 0.0, 0.0, fmi2False, 1.0);
+  dcmotor_loop_fmi2EnterInitializationMode(comp);
+  // Set start-values? Nah...
+  dcmotor_loop_fmi2ExitInitializationMode(comp);
+  
+  double currentTime = 0.0;
+  double h = 0.002;
+  uint32_t i = 0;
+  
+  while (status == fmi2OK) {
+    //retrieve outputs
+      // fmi2GetReal(m, ..., 1, &y1);
+    //set inputs
+      // fmi2SetReal(m, ..., 1, &y2);
+  
+    //call slave and check status
+    status = dcmotor_loop_fmi2DoStep(comp, currentTime, h, fmi2True);
+    switch (status) {
+      case fmi2Discard:
+      case fmi2Error:
+      case fmi2Fatal:
+      case fmi2Pending /* Cannot happen */:
+        terminateSimulation = 1;
+        break;
+      case fmi2OK:
+      case fmi2Warning:
+        break;
+    }
+    if (terminateSimulation) {
+      break;
+    }
+    i++;
+    /* increment master time */
+    currentTime = 0.0 + h*i;
+  }
+  
+#if 0
+  if ((status != fmi2Error) && (status != fmi2Fatal)) {
+    fmi2Terminate(m);
+  }
+  if (status != fmi2Fatal) {
+    fmi2FreeInstance(m);
+  }
+#endif
+}
+
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/runMDD_dcmotor_both.mos b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/runMDD_dcmotor_both.mos
new file mode 100755
index 0000000..c776b9a
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/runMDD_dcmotor_both.mos
@@ -0,0 +1,11 @@
+loadModel(Modelica);
+getErrorString();
+
+loadFile("/home/souradip/Modelica_DeviceDrivers/Modelica_DeviceDrivers/package.mo");
+getErrorString();
+
+loadFile("/home/souradip/OpenModelica/Arduino.mo");
+getErrorString();
+
+translateModel(Arduino.SerialCommunication.MDD_Examples.MDD_dcmotor.MDD_dcmotor_both, fileNamePrefix="dcmotor_both");
+getErrorString();
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/runMDD_dcmotor_clock.mos b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/runMDD_dcmotor_clock.mos
new file mode 100755
index 0000000..4f2e6ed
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/runMDD_dcmotor_clock.mos
@@ -0,0 +1,11 @@
+loadModel(Modelica);
+getErrorString();
+
+loadFile("/home/souradip/Modelica_DeviceDrivers/Modelica_DeviceDrivers/package.mo");
+getErrorString();
+
+loadFile("/home/souradip/OpenModelica/Arduino.mo");
+getErrorString();
+
+translateModel(Arduino.SerialCommunication.MDD_Examples.MDD_dcmotor.MDD_dcmotor_clock, fileNamePrefix="dcmotor_clock");
+getErrorString();
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/runMDD_dcmotor_loop.mos b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/runMDD_dcmotor_loop.mos
new file mode 100755
index 0000000..05800fc
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/dcmotor/runMDD_dcmotor_loop.mos
@@ -0,0 +1,11 @@
+loadModel(Modelica);
+getErrorString();
+
+loadFile("/home/souradip/Modelica_DeviceDrivers/Modelica_DeviceDrivers/package.mo");
+getErrorString();
+
+loadFile("/home/souradip/OpenModelica/Arduino.mo");
+getErrorString();
+
+translateModel(Arduino.SerialCommunication.MDD_Examples.MDD_dcmotor.MDD_dcmotor_loop, fileNamePrefix="dcmotor_loop");
+getErrorString();